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Pre-Training<\/strong><\/p>\n\n\n\n<p>\u5728\u8fc7\u53bb\u7684\u51e0\u5e74\u91cc\uff0c\u9884\u8bad\u7ec3\u5df2\u7ecf\u5728\u5404\u79cd\u4efb\u52a1\u7684\u8ba1\u7b97\u673a\u89c6\u89c9\u6a21\u578b\u4e2d\u63d0\u9ad8\u4e86\u6027\u80fd\u3002\u5728\u57fa\u4e8ecamera\u76843D\u611f\u77e5\u9886\u57df\uff0c\u4f7f\u7528FCOS3D\u6743\u91cd\u521d\u59cb\u5316ResNet\u4e3b\u5e72\u7f51\u7edc\u5df2\u6210\u4e3a\u6807\u51c6\u505a\u6cd5\u3002\u4e3a\u4e86\u7a33\u5b9a\u8bad\u7ec3\u8fc7\u7a0b\uff0cFCOS3D\u5728\u5fae\u8c03\u8fc7\u7a0b\u4e2d\u5c06\u6df1\u5ea6\u6743\u91cd\u4ece0.2\u8c03\u6574\u52301\u3002\u53e6\u4e00\u79cd\u666e\u904d\u7684\u65b9\u6cd5\u662f\u5728DDAD15M\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3VoVNet-V2\u4e3b\u5e72\u7f51\u7edc\uff0c\u76ee\u6807\u662f\u6df1\u5ea6\u4f30\u8ba1\uff0c\u7136\u540e\u4f7f\u7528nuScenes\u8bad\u7ec3\u96c6\u5bf9\u5176\u8fdb\u884c\u5fae\u8c03\u4ee5\u8fdb\u884c\u68c0\u6d4b\u3002\u4ece\u8bed\u4e49\u4e0a\u8bb2\uff0c\u8fd9\u4e9b\u9884\u8bad\u7ec3\u6280\u672f\u53ef\u4ee5\u5206\u4e3a\u4e24\u7c7b\uff1a\u8bed\u4e49\u9884\u8bad\u7ec3\u548c\u6df1\u5ea6\u9884\u8bad\u7ec3\u3002\u6b64\u5916\uff0cM-BEV\u5f15\u5165\u4e86\u5065\u58ee\u7684mask\u56fe\u50cf\u9884\u8bad\u7ec3\u6280\u672f\uff0c\u65e8\u5728\u589e\u5f3a\u5728\u7f3a\u5c11\u4f20\u611f\u5668\u6570\u636e\u573a\u666f\u4e2d\u6a21\u578b\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p><strong>Temporal Fusion<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7684\u52a8\u6001\u73af\u5883\u8981\u6c42\u7cbe\u786e\u4f30\u8ba1\u8fd0\u52a8\u5b9e\u4f53\u7684\u901f\u5ea6\uff0c\u8fd9\u5bf9\u5355\u4e00\u5e27\u8f93\u5165\u6765\u8bf4\u662f\u4e00\u4e2a\u6311\u6218\u3002\u8fd9\u63ed\u793a\u4e86\u65f6\u95f4\u7ebf\u7d22\u5728\u589e\u5f3a\u89c6\u89c9\u7cfb\u7edf\u611f\u77e5\u80fd\u529b\u65b9\u9762\u7684\u91cd\u8981\u6027\u3002\u5148\u524d\u7684\u7814\u7a76\u5df2\u7ecf\u5f00\u521b\u4e86\u5404\u79cd\u65b9\u6cd5\u6765\u5229\u7528\u8fd9\u4e9b\u65f6\u95f4\u7ebf\u7d22\u3002\u4f8b\u5982\uff0cBEVFormer \u96c6\u6210\u5386\u53f2\u6570\u636e\u5e76\u5229\u7528\u65f6\u95f4\u4ea4\u53c9\u6ce8\u610f\u529b\u6765\u4ece\u591a\u65f6\u95f4\u6233\u56fe\u50cf\u4e2d\u805a\u5408BEV\u7279\u5f81\u3002\u540c\u65f6\uff0cBEVDet4D \u901a\u8fc7\u5c06\u6765\u81ea\u591a\u4e2a\u5e27\u7684\u7279\u5f81\u9644\u52a0\u5728\u4e00\u8d77\u6765\u878d\u5165\u65f6\u95f4\u7ec6\u5fae\u5dee\u522b\uff0c\u800cSOLOFusion 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View Transformation<\/strong><\/p>\n\n\n\n<p>BEV\u8f6c\u6362\u9886\u57df\u7684\u7814\u7a76\u5de5\u4f5c\u53ef\u4ee5\u6839\u636e\u662f\u5426\u4f7f\u7528\u6df1\u5ea6\u4f30\u8ba1\u6280\u672f\u6765\u5212\u5206\u3002\u4e00\u6d3e\u7814\u7a76\u5728\u5176\u7cfb\u7edf\u4e2d\u5d4c\u5165\u4e86\u4e00\u4e2a\u72ec\u7acb\u7684\u6df1\u5ea6\u4f30\u8ba1\u5206\u652f\u3002\u7531\u4e8e\u4ece\u56fe\u50cf\u9884\u6d4b3D\u6846\u5b58\u5728\u56fa\u6709\u7684\u6311\u6218\uff0c\u8fd9\u4e9b\u6a21\u578b\u9996\u5148\u9884\u6d4b\u6bcf\u4e2a\u50cf\u7d20\u7684\u6df1\u5ea6\u56fe\u3002\u7136\u540e\uff0c\u8fd9\u4e2a\u6df1\u5ea6\u56fe\u5c31\u50cf\u4e00\u4e2a\u6307\u5357\u9488\uff0c\u5c06\u56fe\u50cf\u7279\u5f81\u5f15\u5bfc\u5230\u5b83\u4eec\u6b63\u786e\u76843D\u5750\u6807\u4e0a\u3002\u540e\u7eed\u7684BEV\u8f6c\u6362\u8fc7\u7a0b\u901a\u5e38\u91c7\u7528\u81ea\u4e0b\u800c\u4e0a\u7684\u65b9\u6cd5\u3002\u53e6\u4e00\u79cd\uff0c\u662f\u90a3\u4e9b\u5229\u7528\u9884\u5b9a\u4e49\u7684\u76ee\u6807\u67e5\u8be2\u6216\u7cbe\u7b80proposal\u4ee5\u81ea\u4e0a\u800c\u4e0b\u7684\u65b9\u5f0f\u6574\u74062D\u7279\u5f81\u7684\u6a21\u578b\u3002\u867d\u7136\u8fd9\u4e24\u79cd\u8303\u5f0f\u5728\u826f\u6027\u6570\u636e\u96c6\u4e0a\u90fd\u5c55\u73b0\u51fa\u4e86\u5b83\u4eec\u7684\u4f18\u52bf\uff0c\u4f46\u901a\u8fc7\u8003\u5bdf\u5b83\u4eec\u5728\u53d7\u635f\u6570\u636e\u4e0a\u7684\u6709\u6548\u6027\u6765\u8fdb\u4e00\u6b65\u62d3\u5c55\u89c6\u91ce\u3002<\/p>\n\n\n\n<p><strong>Benchmark\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>1\uff09\u6570\u636e\u751f\u6210<\/strong><\/h3>\n\n\n\n<p>\u6211\u4eec\u7684\u4e3b\u8981\u63d0\u8bae\u662fnuScenes-C\u57fa\u51c6\u6570\u636e\u96c6\uff0c\u5b83\u662f\u901a\u8fc7\u5728nuScenes\u6570\u636e\u96c6\u7684\u9a8c\u8bc1\u96c6\u4e2d\u5f15\u5165\u635f\u574f\u800c\u521b\u5efa\u7684\u3002\u6211\u4eec\u7684\u6570\u636e\u96c6\u5305\u542b\u4e86\u516b\u79cd\u4e0d\u540c\u7684\u635f\u574f\u7c7b\u578b\uff0c\u6a21\u62df\u4e86\u5916\u90e8\u73af\u5883\u56e0\u7d20\u3001\u4f20\u611f\u5668\u5f15\u8d77\u7684\u5931\u771f\u4ee5\u53ca\u6211\u4eec\u65f6\u95f4\u635f\u574f\u6240\u5e26\u6765\u7684\u6311\u6218\u3002\u5c06\u6bcf\u79cd\u635f\u574f\u7c7b\u578b\u5206\u4e3a\u4e09\u7ea7\u5f3a\u5ea6\uff1a\u7b80\u5355\u3001\u4e2d\u7b49\u548c\u56f0\u96be\u3002\u8fd9\u4e9b\u4e25\u91cd\u7a0b\u5ea6\u7ea7\u522b\u786e\u4fdd\u4e86\u5728\u5b58\u5728\u6311\u6218\u7684\u540c\u65f6\uff0c\u5b83\u4eec\u4e0d\u4f1a\u5b8c\u5168\u7834\u574f\u6027\u80fd\uff0c\u4ece\u800c\u4fdd\u6301\u53d1\u73b0\u7684\u76f8\u5173\u6027\u548c\u5b8c\u6574\u6027\u3002\u6b64\u5916\uff0c\u5728\u6bcf\u4e2a\u4e25\u91cd\u7a0b\u5ea6\u7ea7\u522b\u5185\u5f15\u5165\u4e86\u53d8\u5316\uff0c\u4ee5\u786e\u4fdd\u591a\u6837\u6027\u3002\u57fa\u51c6\u5305\u542b866,736\u5f20\u56fe\u50cf\uff0c\u6bcf\u5f20\u56fe\u50cf\u7684\u5206\u8fa8\u7387\u4e3a1600\u00d7900\u50cf\u7d20\u3002\u8fd9\u91cc\u8fd8\u8003\u8651\u4e86\u6a21\u62df\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u7b97\u6cd5\u4e2d\u5b8c\u5168\u4f20\u611f\u5668\u5931\u6548\u7684\u573a\u666f\u3002\u5728\u6a21\u62df\u76f8\u673a\u7f3a\u5931\u65f6\uff0c\u6bcf\u4e2a\u50cf\u7d20\u90fd\u88ab\u8bbe\u7f6e\u4e3a\u96f6\u3002\u4e3a\u4e86\u6a21\u62df\u6fc0\u5149\u96f7\u8fbe\u8bfb\u6570\u7684\u7f3a\u5931\uff0c\u4ec5\u4fdd\u7559\u4e86[-45, 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"261\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-155-1024x261.png\" alt=\"\" class=\"wp-image-11630\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-155-1024x261.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-155-300x76.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-155-768x196.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-155.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3\uff09\u9c81\u68d2Metrics<\/strong><\/h3>\n\n\n\n<p>\u9075\u5faa\u5b98\u65b9nuScenes\u6307\u6807\u5728nuScenes-C\u6570\u636e\u96c6\u4e0a\u8ba1\u7b97\u9c81\u68d2\u6027\u6307\u6807\u3002\u62a5\u544a\u4e86nuScenes\u68c0\u6d4b\u5f97\u5206\uff08NDS\uff09\u548c\u5e73\u5747\u7cbe\u5ea6\u5747\u503c\uff08mAP\uff09\uff0c\u4ee5\u53ca\u5e73\u5747\u5e73\u79fb\u8bef\u5dee\uff08mATE\uff09\u3001\u5e73\u5747\u5c3a\u5ea6\u8bef\u5dee\uff08mASE\uff09\u3001\u5e73\u5747\u65b9\u5411\u8bef\u5dee\uff08mAOE\uff09\u3001\u5e73\u5747\u901f\u5ea6\u8bef\u5dee\uff08mAVE\uff09\u548c\u5e73\u5747\u5c5e\u6027\u8bef\u5dee\uff08mAAE\uff09\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u66f4\u597d\u5730\u6bd4\u8f83\u4e0d\u540cBEV\u68c0\u6d4b\u5668\u7684\u9c81\u68d2\u6027\uff0c\u57fa\u4e8eNDS\u5f15\u5165\u4e86\u4e24\u4e2a\u65b0\u7684\u6307\u6807\u3002\u7b2c\u4e00\u4e2a\u6307\u6807\u662f\u5e73\u5747\u635f\u574f\u8bef\u5dee\uff08mCE\uff09\uff0c\u7528\u4e8e\u6d4b\u91cf\u5019\u9009\u6a21\u578b\u4e0e\u57fa\u7ebf\u6a21\u578b\u76f8\u6bd4\u7684\u76f8\u5bf9\u9c81\u68d2\u6027\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"828\" height=\"127\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-156.png\" alt=\"\" class=\"wp-image-11631\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-156.png 828w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-156-300x46.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-156-768x118.png 768w\" sizes=\"(max-width: 828px) 100vw, 828px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\uff0ci\u8868\u793a\u635f\u574f\u7c7b\u578b\uff0cl\u8868\u793a\u4e25\u91cd\u7ea7\u522b\uff1bN\u8868\u793a\u57fa\u51c6\u4e2d\u7684\u635f\u574f\u7c7b\u578b\u6570\u91cf\u3002\u5e94\u8be5\u6ce8\u610f\u7684\u662f\uff0c\u53ef\u4ee5\u9009\u62e9\u4e0d\u540c\u7684\u57fa\u7ebf\u6a21\u578b\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u9009\u62e9\u4e86DETR3D\u4f5c\u4e3a\u57fa\u7ebf\u6a21\u578b\uff0c\u56e0\u4e3a\u5b83\u63d0\u4f9b\u4e86\u51fa\u8272\u7684BEV\u68c0\u6d4b\u6027\u80fd\u3002\u4e3a\u4e86\u6bd4\u8f83nuScenes-C\u548c\u6807\u51c6nuScenes\u6570\u636e\u96c6\u4e4b\u95f4\u7684\u6027\u80fd\u5dee\u5f02\uff0c\u5b9a\u4e49\u4e86\u4e00\u4e2a\u7b80\u5355\u7684\u5e73\u5747\u6062\u590d\u7387\uff08mRR\uff09\u6307\u6807\uff0c\u8be5\u6307\u6807\u6309\u4ee5\u4e0b\u65b9\u5f0f\u5728\u4e09\u4e2a\u4e25\u91cd\u7ea7\u522b\u4e0a\u8ba1\u7b97\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"729\" height=\"114\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-157.png\" alt=\"\" class=\"wp-image-11632\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-157.png 729w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-157-300x47.png 300w\" sizes=\"(max-width: 729px) 100vw, 729px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>Benchmark\u5b9e\u73b0<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>1\uff09Camera-Only Benchmark<\/strong><\/h3>\n\n\n\n<p>\u5bf9nuScenes-C\u6570\u636e\u96c6\u4e0a\u768430\u4e2aBEV\u6a21\u578b\u8fdb\u884c\u4e86\u8be6\u5c3d\u7684\u57fa\u51c6\u5206\u6790\u3002\u8c03\u67e5\u4e3b\u8981\u7ed3\u679c\u6c47\u603b\u5728\u88682\u4e2d\uff0c\u5206\u6790\u7ed3\u679c\u663e\u793a\uff0c\u6240\u6709\u6a21\u578b\u5728\u635f\u574f\u6570\u636e\u96c6\u4e0a\u7684\u6027\u80fd\u90fd\u6709\u6240\u4e0b\u964d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"602\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-158-1024x602.png\" alt=\"\" class=\"wp-image-11633\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-158-1024x602.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-158-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-158-768x452.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-158.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u68c0\u67e5nuScenes-C\u6570\u636e\u96c6\u53ca\u5176\u201c\u5e72\u51c0\u201d\u5bf9\u7167\u6570\u636e\u96c6\u7684\u7edd\u5bf9\u6027\u80fd\u65f6\uff0c\u51fa\u73b0\u4e86\u4e00\u4e2a\u660e\u663e\u7684\u8d8b\u52bf\u3002\u5728\u6807\u51c6\u6570\u636e\u96c6\u4e0a\u8868\u73b0\u51fa\u8272\u7684BEV\u68c0\u6d4b\u5668\u5728\u9762\u4e34\u5206\u5e03\u5916\u6570\u636e\u96c6\u65f6\u4e5f\u5f80\u5f80\u80fd\u5c55\u73b0\u51fa\u503c\u5f97\u79f0\u8d5e\u7684\u6027\u80fd\uff0c\u8fd9\u4e00\u8d8b\u52bf\u5728\u56fe3a\u4e2d\u5f97\u5230\u4e86\u76f4\u89c2\u4f53\u73b0\u3002\u7136\u800c\uff0c\u66f4\u4ed4\u7ec6\u5730\u89c2\u5bdf\u8fd9\u4e9b\u7ed3\u679c\u63ed\u793a\u4e86\u4e00\u4e2a\u66f4\u590d\u6742\u7684\u60c5\u51b5\u3002\u5c3d\u7ba1\u68c0\u6d4b\u5668\u5728\u201c\u5e72\u51c0\u201d\u6570\u636e\u96c6\u4e0a\u8868\u73b0\u5e73\u884c\uff0c\u4f46\u5728\u9762\u5bf9\u4e0d\u540c\u7c7b\u578b\u7684\u635f\u574f\u65f6\u5374\u8868\u73b0\u51fa\u4e0d\u540c\u7684\u9c81\u68d2\u6027\u3002\u4f8b\u5982\uff0cBEVerse\uff08swin-s\uff09\u5728\u76f8\u673a\u5d29\u6e83\u65f6\u8868\u73b0\u51fa\u5f88\u5f3a\u7684\u97e7\u6027\uff0c\u800cPETR\uff08vov\uff09\u5728\u96ea\u5929\u6761\u4ef6\u4e0b\u8868\u73b0\u826f\u597d\u3002\u7136\u800c\uff0c\u4e24\u8005\u5728\u9ed1\u6697\u73af\u5883\u4e2d\u90fd\u8868\u73b0\u4e0d\u4f73\u3002<\/p>\n\n\n\n<p>\u8c03\u67e5\u8fd8\u8fdb\u4e00\u6b65\u7a81\u51fa\u4e86\u4e0d\u540c\u635f\u574f\u60c5\u51b5\u4e0b\u97e7\u6027\u7387\u7684\u4e00\u4e2a\u6f5c\u5728\u5f31\u70b9\u3002\u5c3d\u7ba1mCE\u6307\u6807\u5728nuScenes\u548cnuScenes-C\u6570\u636e\u96c6\u4e4b\u95f4\u663e\u793a\u51fa\u7ebf\u6027\u76f8\u5173\u6027\uff0c\u4f46mRR\u6307\u6807\u63ed\u793a\u4e86\u5177\u6709\u53ef\u6bd4\u57fa\u7ebf\u6027\u80fd\u7684\u6a21\u578b\u4e4b\u95f4\u5b58\u5728\u663e\u8457\u5dee\u5f02\u3002\u8fd9\u8868\u660e\u4e00\u4e9b\u6a21\u578b\u53ef\u80fd\u5bf9nuScenes\u6570\u636e\u96c6\u5b58\u5728\u8fc7\u62df\u5408\u73b0\u8c61\uff0c\u4ece\u800c\u964d\u4f4e\u4e86\u5b83\u4eec\u5bf9nuScenes-C\u6570\u636e\u96c6\u7684\u9002\u5e94\u6027\u3002\u4f8b\u5982\uff0c\u5c3d\u7ba1Sparse4D\u5728\u201c\u5e72\u51c0\u201d\u6570\u636e\u96c6\u4e0a\u4f18\u4e8eDETR3D\uff0c\u4f46\u5728\u6240\u6709\u635f\u574f\u7c7b\u522b\u7684mRR\u6307\u6807\u4e0a\u5374\u8868\u73b0\u4e0d\u4f73\u3002\u6b64\u5916\uff0cDETR3D\u5728\u9ed1\u6697\u6761\u4ef6\u4e0b\u8868\u73b0\u51fa\u8272\uff0c\u4e0eBEVerse\uff08swin-t\uff09\u5f62\u6210\u9c9c\u660e\u5bf9\u6bd4\u3002\u5c3d\u7ba1BEVerse\uff08swin-t\uff09\u5728\u6e05\u6d01\u6761\u4ef6\u4e0b\u8868\u73b0\u5f3a\u52b2\uff0c\u4f46\u5728\u9ed1\u6697\u4e2d\u4ec5\u5b9e\u73b0\u4e8612%\u7684\u76f8\u5bf9\u6027\u80fd\u3002\u56e0\u6b64\uff0c\u5bf9\u5c16\u7aef\u6a21\u578b\u8fdb\u884c\u5168\u9762\u8bc4\u4f30\u5bf9\u4e8e\u5b8c\u5168\u8bc4\u4f30\u5b83\u4eec\u7684\u80fd\u529b\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"964\" height=\"702\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-159.png\" alt=\"\" class=\"wp-image-11634\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-159.png 964w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-159-300x218.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-159-768x559.png 768w\" sizes=\"(max-width: 964px) 100vw, 964px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u7684\u7814\u7a76\u8fd8\u6269\u5c55\u5230\u4e86\u76f8\u5173\u4efb\u52a1\uff0c\u5305\u62ec\u4ee5BEV\u4e3a\u4e2d\u5fc3\u7684\u5730\u56fe\u5206\u5272\u3001\u6df1\u5ea6\u4f30\u8ba1\u548c\u5360\u7528\u9884\u6d4b\uff0c\u76f8\u5173\u7ed3\u679c\u5982\u88684\u6240\u793a\u3002\u9075\u5faa\u4e86[25]\u4e2d\u7684\u8bbe\u7f6e\uff0c\u62a5\u544a\u4e86\u8f66\u8f86\u5730\u56fe\u89c6\u56fe\u5206\u5272\u7ed3\u679c\u7684\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u3002\u5bf9\u4e8e\u6df1\u5ea6\u4f30\u8ba1\uff0c\u4f7f\u7528\u4e86\u7edd\u5bf9\u76f8\u5bf9\u5dee\u5f02\uff08Abs Rel\uff09\u8bc4\u5206\uff0c\u800c\u5bf9\u4e8e\u8bed\u4e49\u5360\u7528\u9884\u6d4b\uff0c\u4f7f\u7528\u4e86\u5e73\u5747\u4ea4\u5e76\u6bd4\uff08mIoU\uff09\u3002\u8fd9\u4e9b\u7ed3\u679c\u6db5\u76d6\u4e86\u591a\u79cd\u611f\u77e5\u4efb\u52a1\uff0c\u4e3aBEV\u6a21\u578b\u7684\u80fd\u529b\u548c\u9650\u5236\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u89c6\u89d2\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u8bb8\u591a\u4ee5BEV\u4e3a\u4e2d\u5fc3\u7684\u611f\u77e5\u6a21\u578b\u5728\u7279\u5b9a\u7684\u635f\u574f\u60c5\u51b5\u4e0b\uff08\u5982\u9ed1\u6697\u548c\u96ea\u5929\uff09\u8868\u73b0\u4e0d\u4f73\u3002\u8fd9\u63ed\u793a\u4e86BEV\u6a21\u578b\u4e4b\u95f4\u7684\u4e00\u79cd\u5171\u540c\u5f31\u70b9\uff0c\u964d\u4f4e\u4e86\u5b83\u4eec\u5728\u73b0\u5b9e\u573a\u666f\u4e2d\u7684\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"949\" height=\"520\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-160.png\" alt=\"\" class=\"wp-image-11635\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-160.png 949w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-160-300x164.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-160-768x421.png 768w\" sizes=\"(max-width: 949px) 100vw, 949px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2\uff09Camera-LiDAR Fusion Benchmark<\/strong><\/h3>\n\n\n\n<p>\u672c\u6587\u7814\u7a76\u4e86camera\u53d7\u635f\u800c\u6fc0\u5149\u96f7\u8fbe\u6b63\u5e38\u5de5\u4f5c\u7684\u573a\u666f\uff0c\u8fd9\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u7ecf\u5e38\u53d1\u751f\u3002\u4f8b\u5982\uff0c\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6355\u83b7\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u4e0d\u53d7\u5149\u7167\u53d8\u5316\u7684\u5f71\u54cd\uff0c\u800ccamera\u6355\u83b7\u5728\u5149\u7ebf\u4e0d\u8db3\u7684\u60c5\u51b5\u4e0b\u53ef\u80fd\u4f1a\u964d\u4f4e\u8d28\u91cf\u3002\u8fd9\u91cc\u6545\u610f\u6392\u9664\u4e86\u50cf\u96ea\u548c\u96fe\u8fd9\u6837\u7684\u6761\u4ef6\uff0c\u56e0\u4e3a\u5b83\u4eec\u53ef\u80fd\u4f1a\u5bf9camera\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u8bfb\u6570\u5f15\u5165\u566a\u58f0\uff0c\u8fd9\u4e9b\u7814\u7a76\u7684\u7ed3\u679c\u5982\u88685\u6240\u793a\u3002\u6709\u8da3\u7684\u662f\uff0c\u5373\u4f7f\u5728camera\u6570\u636e\u53d7\u635f\u7684\u60c5\u51b5\u4e0b\uff0c\u591a\u6a21\u6001\u878d\u5408\u6a21\u578b\u4e5f\u80fd\u4fdd\u6301\u9ad8\u6027\u80fd\u3002\u5f53\u63d0\u4f9b\u6b63\u5e38\u7684\u6fc0\u5149\u96f7\u8fbe\u548c\u53d7\u635f\u7684camera\u8f93\u5165\u65f6\uff0cBEVFusion\u5728\u5927\u591a\u6570\u7c7b\u578b\u7684camera\u635f\u574f\u60c5\u51b5\u4e0b\uff08\u9664\u4e86\u9ed1\u6697\u6761\u4ef6\uff09\u90fd\u6301\u7eed\u4f18\u4e8e\u4ec5\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u7684\u6a21\u578b\uff0c\u5177\u6709\u663e\u8457\u66f4\u9ad8\u7684NDS\u8bc4\u52060.6928\u3002\u8fd9\u8bc1\u5b9e\u4e86\u5373\u4f7f\u5728camera\u6570\u636e\u4e0d\u662f\u6700\u4f73\u7684\u60c5\u51b5\u4e0b\uff0c\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u5728\u67d0\u4e9b\u60c5\u51b5\u4e0b\uff0c\u53d7\u635f\u7684camera\u8f93\u5165\u4f1a\u5bf9\u6a21\u578b\u7684\u6027\u80fd\u4ea7\u751f\u4e0d\u5229\u5f71\u54cd\u3002\u4f8b\u5982\uff0c\u5728camera\u5d29\u6e83\u548c\u8fd0\u52a8\u6a21\u7cca\u7b49\u6761\u4ef6\u4e0b\uff0c\u5c06camera\u7279\u5f81\u7eb3\u5165\u6a21\u578b\u7684\u76ca\u5904\u5fae\u4e4e\u5176\u5fae\u3002\u6b64\u5916\uff0c\u5728\u5b58\u5728\u9ed1\u6697\u635f\u574f\u7684\u60c5\u51b5\u4e0b\uff0c\u53d7\u635f\u7684camera\u7279\u5f81\u4e0d\u4ec5\u65e0\u6cd5\u63d0\u4f9b\u6709\u7528\u4fe1\u606f\uff0c\u800c\u4e14\u8fd8\u4f1a\u964d\u4f4e\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u7684\u6709\u6548\u6027\uff0c\u5bfc\u81f4NDS\u8bc4\u5206\u4ece0.6928\u4e0b\u964d\u52300.6787\u3002\u56e0\u6b64\uff0c\u63d0\u9ad8\u591a\u6a21\u6001\u878d\u5408\u6a21\u578b\u5bf9\u8f93\u5165\u635f\u574f\u7684\u9c81\u68d2\u6027\u6210\u4e3a\u672a\u6765\u7814\u7a76\u7684\u5173\u952e\u65b9\u5411\u3002<\/p>\n\n\n\n<p>\u591a\u6a21\u6001\u878d\u5408\u6a21\u578b\u901a\u5e38\u4f7f\u7528\u6765\u81eacamera\u548c\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u7684\u6570\u636e\u8fdb\u884c\u8bad\u7ec3\u3002\u7136\u800c\uff0c\u90e8\u7f72\u7684\u6a21\u578b\u5fc5\u987b\u80fd\u591f\u5728\u5176\u4e2d\u4e00\u4e2a\u4f20\u611f\u5668\u51fa\u73b0\u6545\u969c\u65f6\u4e5f\u80fd\u6b63\u5e38\u5de5\u4f5c\u3002\u6211\u4eec\u4f7f\u7528\u4ec5\u6765\u81ea\u5355\u4e00\u6a21\u6001\u7684\u8f93\u5165\u6765\u8bc4\u4f30\u6211\u4eec\u7684\u591a\u6a21\u6001\u6a21\u578b\u7684\u6027\u80fd\uff0c\u7ed3\u679c\u5982\u88686\u6240\u793a\u3002\u5728\u6a21\u62dfcamera\u6545\u969c\u65f6\uff0c\u5c06\u6240\u6709\u50cf\u7d20\u503c\u8bbe\u7f6e\u4e3a\u96f6\u3002\u5bf9\u4e8e\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u6545\u969c\uff0c\u53d1\u73b0\u5f53\u6240\u6709\u70b9\u6570\u636e\u90fd\u7f3a\u5931\u65f6\uff08\u5373NDS\u964d\u81f3\u96f6\uff09\uff0c\u6ca1\u6709\u6a21\u578b\u80fd\u591f\u6b63\u5e38\u5de5\u4f5c\u3002\u56e0\u6b64\uff0c\u4ec5\u4fdd\u7559\u8f66\u8f86\u524d\u65b9[-45, 45]\u5ea6\u8303\u56f4\u5185\u7684\u70b9\uff0c\u5e76\u4e22\u5f03\u5176\u4ed6\u6240\u6709\u70b9\u3002<\/p>\n\n\n\n<p>\u7814\u7a76\u7ed3\u679c\u8868\u660e\uff0c\u591a\u6a21\u6001\u6a21\u578b\u5bf9\u6fc0\u5149\u96f7\u8fbe\u8f93\u5165\u7684\u4f9d\u8d56\u7a0b\u5ea6\u8fc7\u9ad8\u3002\u5728\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u7f3a\u5931\u7684\u573a\u666f\u4e2d\uff0cBEVFusion\u548cTransfusion\u7684mAP\u6307\u6807\u5206\u522b\u4e0b\u964d\u4e8689%\u548c95%\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u7f3a\u5c11\u56fe\u50cf\u6570\u636e\u5bfc\u81f4\u7684\u6027\u80fd\u4e0b\u964d\u5e45\u5ea6\u8981\u5c0f\u5f97\u591a\u3002\u8fd9\u4e00\u73b0\u8c61\u5f3a\u8c03\u4e86\u5728\u8bad\u7ec3\u9636\u6bb5\uff0c\u70b9\u4e91\u7279\u5f81\u53ef\u80fd\u4f1a\u5bf9\u6a21\u578b\u4ea7\u751f\u4e0d\u6210\u6bd4\u4f8b\u7684\u5f71\u54cd\uff0c\u4ece\u800c\u5728\u611f\u77e5\u4efb\u52a1\u4e2d\u4e3b\u5bfc\u57fa\u4e8e\u56fe\u50cf\u7684\u7279\u5f81\u3002\u8fd9\u79cd\u5bf9\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u7684\u4f9d\u8d56\u7ed9\u591a\u6a21\u6001\u611f\u77e5\u6a21\u578b\u5e26\u6765\u4e86\u663e\u8457\u7684\u8106\u5f31\u6027\uff0c\u5c24\u5176\u662f\u56e0\u4e3a\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u5728\u96e8\u3001\u96ea\u3001\u96fe\u7b49\u6076\u52a3\u5929\u6c14\u6761\u4ef6\u4e0b\u5bb9\u6613\u6570\u636e\u635f\u574f\u3002\u8fd9\u4e9b\u7ed3\u679c\u4fc3\u4f7f\u6211\u4eec\u8fdb\u4e00\u6b65\u7814\u7a76\u5982\u4f55\u589e\u5f3a\u591a\u6a21\u6001\u611f\u77e5\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\uff0c\u7279\u522b\u662f\u5f53\u4e00\u79cd\u611f\u77e5\u6a21\u6001\u5b8c\u5168\u7f3a\u5931\u65f6\u3002<\/p>\n\n\n\n<h3 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"957\" height=\"783\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-161.png\" alt=\"\" class=\"wp-image-11636\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-161.png 957w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-161-300x245.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-161-768x628.png 768w\" sizes=\"(max-width: 957px) 100vw, 957px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"948\" height=\"312\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-162.png\" alt=\"\" class=\"wp-image-11637\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-162.png 948w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-162-300x99.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-162-768x253.png 768w\" sizes=\"(max-width: 948px) 100vw, 948px\" \/><\/figure>\n\n\n\n<p>\u6700\u8fd1\u7684\u7814\u7a76\u8868\u660e\uff0c\u5728\u4e92\u8054\u7f51\u89c4\u6a21\u7684\u6570\u636e\u96c6\u4e0a\u4ee5\u65e0\u76d1\u7763\u65b9\u5f0f\u8bad\u7ec3\u7684\u57fa\u7840\u6a21\u578b\uff0c\u4e0e\u5728\u5e38\u89c4\u6570\u636e\u96c6\uff08\u5982ImageNet\uff09\u4e0a\u8bad\u7ec3\u7684\u6a21\u578b\u76f8\u6bd4\uff0c\u8868\u73b0\u51fa\u663e\u8457\u7684\u6cdb\u5316\u80fd\u529b\u3002\u53d7\u8fd9\u4e9b\u53d1\u73b0\u7684\u542f\u53d1\uff0c\u6211\u4eec\u63a2\u7d22\u4e86\u5c06\u57fa\u7840\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u8f6c\u79fb\u5230BEV\u611f\u77e5\u4efb\u52a1\u4e2d\u7684\u6f5c\u529b\u3002\u7814\u7a76\u4e86\u5728\u6211\u4eec\u7684\u6a21\u578b\u4e2d\u5229\u7528CLIP\u4e3b\u5e72\u7f51\u7edc\u7684\u4e09\u79cd\u4e0d\u540c\u65b9\u6cd5\uff1a(1) 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-163-268x300.png 268w\" sizes=\"(max-width: 510px) 100vw, 510px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u4e09\u79cd\u65b9\u6cd5\u5982\u56fe4\u6240\u793a\uff0c\u7ed3\u679c\u5982\u886810\u6240\u793a\u3002\u9996\u5148\u89c2\u5bdf\u5230\u7684\u662f\uff0cCLIP\u5bf9\u4e8eBEV\u611f\u77e5\u4efb\u52a1\u5e76\u672a\u5f97\u5230\u5f88\u597d\u7684\u4f18\u5316\uff0c\u8fd9\u8868\u73b0\u5728\u5f53\u6211\u4eec\u51bb\u7ed3CLIP\u4e3b\u5e72\u7f51\u7edc\u65f6\uff0c\u826f\u6027\u6027\u80fd\u8f83\u4f4e\u3002\u6b64\u5916\uff0c\u4f7f\u7528\u968f\u673a\u521d\u59cb\u5316\u7684\u68c0\u6d4b\u5934\u8fdb\u884c\u7aef\u5230\u7aef\u7684\u5fae\u8c03\u51e0\u4e4e\u6ca1\u6709\u5e26\u6765\u4efb\u4f55\u6539\u8fdb\u3002\u6709\u8da3\u7684\u662f\uff0c\u5f53\u5e94\u7528\u635f\u574f\u589e\u5f3a\u65f6\uff0cCLIP\u4e3b\u5e72\u7f51\u7edc\u5bf9\u57fa\u51c6\u6a21\u578b\u7684\u6539\u8fdb\u5fae\u4e4e\u5176\u5fae\u3002mRR\uff08\u5e73\u5747\u53ec\u56de\u7387\uff09\u7684\u6539\u8fdb\u4ec5\u4e3a0.56\uff0c\u800c\u914d\u5907\u635f\u574f\u589e\u5f3a\u65f6\uff0cmRR\u751a\u81f3\u66f4\u4f4e\u3002\u6700\u540e\uff0c\u6211\u4eec\u7684\u4e24\u9636\u6bb5\u8bad\u7ec3\u5728\u6709\u6548\u63d0\u9ad8\u6027\u80fd\u7684\u540c\u65f6\uff0c\u4e5f\u5c06CLIP\u7684\u9c81\u68d2\u6027\u8f6c\u79fb\u5230\u4e86BEV\u611f\u77e5\u4efb\u52a1\u4e0a\uff0c\u5c24\u5176\u662f\u914d\u5907\u635f\u574f\u589e\u5f3a\u65f6\u3002\u9c81\u68d2\u6027\u7684\u63d0\u5347\u660e\u663e\u8d85\u8fc7\u4e86\u7aef\u5230\u7aef\u5fae\u8c03\u7684CLIP\u3002\u4f8b\u5982\uff0c\u5728\u6697\u5149\u3001\u96fe\u5929\u548c\u96ea\u5929\u6761\u4ef6\u4e0b\uff0cNDS\uff08\u5f52\u4e00\u5316\u9a7e\u9a76\u5f97\u5206\uff09\u5206\u522b\u63d0\u9ad8\u4e8623.1%\u300111.8%\u548c15.8%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"469\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-164-1024x469.png\" alt=\"\" class=\"wp-image-11639\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-164-1024x469.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-164-300x138.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-164-768x352.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-164.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5206\u6790\u548c\u8ba8\u8bba<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>1\uff09Depth Estimation<\/strong><\/h3>\n\n\n\n<p>\u65e0\u6df1\u5ea6\u4fe1\u606f\u7684BEV\u53d8\u6362\u5c55\u73b0\u51fa\u66f4\u597d\u7684\u9c81\u68d2\u6027\u3002\u5206\u6790\u63ed\u793a\uff0c\u5f53\u9762\u5bf9\u635f\u574f\u7684\u56fe\u50cf\u65f6\uff0c\u57fa\u4e8e\u6df1\u5ea6\u7684\u65b9\u6cd5\u4f1a\u906d\u53d7\u4e25\u91cd\u7684\u6027\u80fd\u4e0b\u964d\uff0c\u5982\u56fe6c\u548c6d\u6240\u793a\u3002\u6b64\u5916\uff0c\u8fd8\u8fdb\u884c\u4e86\u4e00\u9879\u6bd4\u8f83\u7814\u7a76\uff0c\u4ee5\u8bc4\u4f30\u5728\u635f\u574f\u6761\u4ef6\u4e0bBEVDepth\u7684\u4e2d\u95f4\u6df1\u5ea6\u4f30\u8ba1\u7ed3\u679c\u3002\u4e3a\u6b64\uff0c\u8ba1\u7b97\u4e86\u201c\u5e72\u51c0\u201d\u8f93\u5165\u4e0e\u635f\u574f\u8f93\u5165\u4e4b\u95f4\u7684\u5747\u65b9\u8bef\u5dee\uff08MSE\uff09\u3002\u53d1\u73b0\u8868\u660e\uff0c\u8106\u5f31\u6027\u4e0e\u6df1\u5ea6\u4f30\u8ba1\u9519\u8bef\u4e4b\u95f4\u5b58\u5728\u660e\u786e\u7684\u5173\u8054\uff0c\u5982\u56fe3c\u6240\u793a\u3002\u96ea\u548c\u6697\u5149\u635f\u574f\u4f1a\u663e\u8457\u5f71\u54cd\u51c6\u786e\u7684\u6df1\u5ea6\u4f30\u8ba1\uff0c\u5bfc\u81f4\u6700\u5927\u7684\u6027\u80fd\u4e0b\u964d\u3002\u8fd9\u4e9b\u7ed3\u679c\u8fdb\u4e00\u6b65\u652f\u6301\u4e86\u6211\u4eec\u7684\u7ed3\u8bba\uff0c\u5373\u5982\u679c\u6df1\u5ea6\u4f30\u8ba1\u4e0d\u591f\u51c6\u786e\uff0c\u57fa\u4e8e\u6df1\u5ea6\u7684\u65b9\u6cd5\u7684\u6027\u80fd\u53ef\u80fd\u4f1a\u53d7\u5230\u4e25\u91cd\u5f71\u54cd\u3002\u635f\u574f\u6761\u4ef6\u4e0b\u7684\u6df1\u5ea6\u4f30\u8ba1\u7ed3\u679c\u53ef\u4ee5\u4ece\u56fe5\u4e2d\u770b\u5230\uff0c\u4e0e\u201c\u5e72\u51c0\u201d\u8f93\u5165\u76f8\u6bd4\uff0c\u5728\u67d0\u4e9b\u635f\u574f\uff08\u4f8b\u5982\u96ea\uff09\u4e0b\u6211\u4eec\u53ef\u4ee5\u770b\u5230\u663e\u8457\u7684\u5dee\u5f02\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"701\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-165-1024x701.png\" alt=\"\" class=\"wp-image-11640\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-165-1024x701.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-165-300x205.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-165-768x526.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-165.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>2\uff09Model Pre-Training<\/strong><\/p>\n\n\n\n<p>\u9884\u8bad\u7ec3\u5728\u5404\u79cd\u8bed\u4e49\u635f\u574f\u4e0a\u63d0\u9ad8\u4e86\u9c81\u68d2\u6027\uff0c\u4f46\u5bf9\u65f6\u95f4\u635f\u574f\u6ca1\u6709\u5e2e\u52a9\u3002\u8fd9\u4e9b\u7b56\u7565\u5728\u63d0\u9ad8\u6a21\u578b\u9c81\u68d2\u6027\u65b9\u9762\u7684\u6709\u6548\u6027\u5982\u56fe6a\u548c\u56fe6b\u6240\u793a\uff0c\u5176\u4e2d\u5229\u7528\u9884\u8bad\u7ec3\u7684\u6a21\u578b\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u4f18\u4e8e\u672a\u4f7f\u7528\u7684\u6a21\u578b\u3002\u4e3a\u4e86\u8fdb\u884c\u5bf9\u7167\u6bd4\u8f83\uff0c\u6211\u4eec\u4f7f\u7528FCOS3D\u6a21\u578b\u4f5c\u4e3a\u521d\u59cb\u5316\uff0c\u91cd\u65b0\u5b9e\u73b0\u4e86BEVDet (r101)\u6a21\u578b\u3002\u5982\u56fe10\u6240\u793a\uff0c\u7ed3\u679c\u8868\u660e\uff0c\u5373\u4f7f\u9884\u8bad\u7ec3\u6a21\u578b\u5728\u201c\u5e72\u51c0\u201d\u6570\u636e\u4e0a\u7684NDS\u8f83\u4f4e\uff080.3780 vs. 0.3877\uff09\uff0c\u9884\u8bad\u7ec3\u4ecd\u7136\u53ef\u4ee5\u663e\u8457\u63d0\u9ad8\u5404\u79cd\u635f\u574f\uff08\u9664\u4e86\u96fe\uff09\u4e0b\u7684mRR\u3002\u5728\u989c\u8272\u91cf\u5316\u3001\u8fd0\u52a8\u6a21\u7cca\u548c\u6697\u5149\u635f\u574f\u4e0b\uff0cmRR\u6307\u6807\u5206\u522b\u63d0\u9ad8\u4e8622.5%\u300117.2%\u548c27.8%\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u9884\u8bad\u7ec3\u4e3b\u8981\u6539\u5584\u4e86\u5927\u591a\u6570\u8bed\u4e49\u635f\u574f\uff0c\u4f46\u5bf9\u65f6\u95f4\u635f\u574f\u6ca1\u6709\u6539\u5584\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u7ecf\u8fc7\u9884\u8bad\u7ec3\u7684BEVDet\u4ecd\u7136\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u843d\u540e\u4e8e\u65e0\u6df1\u5ea6\u4fe1\u606f\u7684\u540c\u7c7b\u6a21\u578b\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u53ef\u4ee5\u5f97\u51fa\u7ed3\u8bba\uff0c\u9884\u8bad\u7ec3\u4e0e\u65e0\u6df1\u5ea6\u4fe1\u606f\u7684\u9e1f\u77b0\u56fe\u53d8\u6362\u76f8\u7ed3\u5408\uff0c\u4e3a\u6a21\u578b\u63d0\u4f9b\u4e86\u5f3a\u5927\u7684\u9c81\u68d2\u6027\u3002\u6700\u8fd1\uff0cM-BEV\u63d0\u51fa\u4e86mask\u9884\u8bad\u7ec3\u4efb\u52a1\uff0c\u4ee5\u589e\u5f3a\u5728\u4e0d\u5b8c\u6574\u4f20\u611f\u5668\u8f93\u5165\u4e0b\u7684\u9c81\u68d2\u6027\u3002\u6211\u4eec\u5c06mask\u9884\u8bad\u7ec3\u7684PETR\u4e0e\u5176\u76f8\u5e94\u7684\u57fa\u7ebf\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u7ed3\u679c\u5982\u886811\u6240\u793a\uff0c\u53d1\u73b0M-BEV\u6700\u80fd\u6709\u6548\u5730\u63d0\u9ad8\u5bf9\u4e0d\u5b8c\u6574\u4f20\u611f\u5668\u8f93\u51fa\u7684\u9c81\u68d2\u6027\uff0c\u5e76\u63ed\u793a\u4e86\u63a9\u7801\u56fe\u50cf\u5efa\u6a21\u9884\u8bad\u7ec3\u5728BEV\u611f\u77e5\u4efb\u52a1\u4e2d\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"604\" height=\"279\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-166.png\" alt=\"\" class=\"wp-image-11641\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-166.png 604w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-166-300x139.png 300w\" sizes=\"(max-width: 604px) 100vw, 604px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3\uff09Temporal Fusion<\/strong><\/h3>\n\n\n\n<p>\u5728\u53d7\u5230\u5e72\u6270\u7684\u60c5\u51b5\u4e0b\u7684\u6027\u80fd\u3002\u878d\u5408\u66f4\u957f\u7684\u65f6\u5e8f\u4fe1\u606f\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u6709\u52a9\u4e8e\u589e\u5f3a\u9c81\u68d2\u6027\u3002\u7279\u522b\u5173\u6ce8\u5229\u7528\u65f6\u5e8f\u4fe1\u606f\u7684\u6a21\u578b\u5728\u65f6\u5e8f\u5e72\u6270\u4e0b\u7684\u8868\u73b0\u3002\u4e0e\u4ec5\u4f7f\u7528\u77ed\u671f\u548c\u957f\u671f\u7248\u672c\u7684\u6a21\u578b\u76f8\u6bd4\uff0c\u878d\u5408\u4e86\u66f4\u5e7f\u6cdb\u548c\u66f4\u4e30\u5bcc\u7684\u65f6\u5e8f\u4fe1\u606f\u7684SOLOFusion\u6a21\u578b\u8868\u73b0\u6781\u4f73\u3002\u5728\u76f8\u673a\u5d29\u6e83\u7684\u60c5\u51b5\u4e0b\uff0c\u4ec5\u4f7f\u7528\u77ed\u671f\u548c\u4ec5\u4f7f\u7528\u957f\u671f\u7248\u672c\u7684\u6a21\u578b\u7684\u6062\u590d\u7387\u6027\u80fd\u76f8\u8fd1\uff0865.04 vs. 65.13\uff09\u3002\u7136\u800c\uff0c\u878d\u5408\u7248\u672c\u5c06\u6062\u590d\u7387\u63d0\u9ad8\u5230\u4e8670.73\uff0c\u8fd9\u662f\u6240\u6709\u5019\u9009\u6a21\u578b\u4e2d\u6700\u9ad8\u7684\u3002\u7c7b\u4f3c\u5730\uff0c\u5728\u5e27\u4e22\u5931\u5e72\u6270\u4e0b\uff0c\u878d\u5408\u7248\u672c\u76f8\u6bd4\u4e8e\u5176\u4ed6\u4e24\u4e2a\u7248\u672c\u5c06\u6062\u590d\u7387\u63d0\u9ad8\u4e86\u8fd110%\u3002\u6b64\u5916\uff0c\u5176\u957f\u671f\u7248\u672c\u7684RR\u6307\u6807\u5728\u5e7f\u6cdb\u7684\u5e72\u6270\u7c7b\u578b\u4e0a\u5747\u4f18\u4e8e\u77ed\u671f\u7248\u672c\uff0c\u8fd9\u8868\u660e\u5229\u7528\u66f4\u957f\u7684\u65f6\u5e8f\u4fe1\u606f\u5177\u6709\u5de8\u5927\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u7814\u7a76\u65f6\u5e8f\u878d\u5408\u5bf9\u589e\u5f3a\u5e72\u6270\u9c81\u68d2\u6027\u7684\u5f71\u54cd\uff0c\u4f7f\u7528BEVFormer\u6a21\u578b\u6765\u8bc4\u4f30\u4e0e\u201c\u5e72\u51c0\u201d\u7684\u65f6\u5e8f\u8f93\u5165\u76f8\u6bd4\uff0c\u6709\u65f6\u5e8f\u4fe1\u606f\u6574\u5408\u548c\u6ca1\u6709\u65f6\u5e8f\u4fe1\u606f\u6574\u5408\u65f6\u7684\u7279\u5f81\u8bef\u5dee\u3002\u6211\u4eec\u8ba1\u7b97\u4e86\u5e26\u6709\u65f6\u5e8f\u4fe1\u606f\u548c\u4e0d\u5e26\u6709\u65f6\u5e8f\u4fe1\u606f\u7684\u53d7\u635f\u8f93\u5165\u4e0e\u5e26\u6709\u65f6\u5e8f\u4fe1\u606f\u7684\u201c\u5e72\u51c0\u201d\u8f93\u5165\u4e4b\u95f4\u7684\u5747\u65b9\u8bef\u5dee\uff08MSE\uff09\uff0c\u7ed3\u679c\u5982\u56fe12\u6240\u793a\u3002\u6ce8\u610f\u5230\uff0c\u5728\u65f6\u5e8f\u878d\u5408\u6a21\u578b\u4e2d\uff08\u7531\u84dd\u8272\u6761\u8868\u793a\uff09\uff0c\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\uff0c\u8bef\u5dee\u5448\u73b0\u589e\u52a0\u7684\u8d8b\u52bf\uff0c\u8fd9\u5f52\u56e0\u4e8e\u8fde\u7eed\u53d7\u635f\u8f93\u5165\u4e0b\u7684\u8bef\u5dee\u7d2f\u79ef\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u65f6\u5e8f\u878d\u5408\u59cb\u7ec8\u5728\u5e27\u4e4b\u95f4\u5c55\u73b0\u51fa\u8bef\u5dee\u7f13\u89e3\u6548\u679c\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u6211\u4eec\u53d1\u73b0\u5e76\u975e\u6240\u6709\u4f7f\u7528\u65f6\u95f4\u878d\u5408\u7684\u6a21\u578b\u5728\u76f8\u673a\u5d29\u6e83\u548c\u5e27\u4e22\u5931\u7684\u60c5\u51b5\u4e0b\u90fd\u8868\u73b0\u51fa\u66f4\u597d\u7684\u9c81\u68d2\u6027\u3002\u8fd9\u79cd\u9c81\u68d2\u6027\u4e0e\u5982\u4f55\u878d\u5408\u5386\u53f2\u5e27\u4ee5\u53ca\u4f7f\u7528\u4e86\u591a\u5c11\u5e27\u9ad8\u5ea6\u76f8\u5173\uff0c\u8fd9\u5f3a\u8c03\u4e86\u4ece\u66f4\u5e7f\u6cdb\u7684\u89d2\u5ea6\u8bc4\u4f30\u65f6\u95f4\u878d\u5408\u7b56\u7565\u7684\u91cd\u8981\u6027\u3002\u7ed3\u679c\u5982\u56fe7\u6240\u793a\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u65f6\u95f4\u878d\u5408\u4ecd\u7136\u662f\u589e\u5f3a\u65f6\u95f4\u9c81\u68d2\u6027\u7684\u6f5c\u5728\u65b9\u6cd5\uff0c\u56e0\u4e3a\u5177\u6709\u6700\u4f4e\u635f\u574f\u8bef\u5dee\uff08\u6216\u6700\u9ad8\u6062\u590d\u7387\uff09\u7684\u6a21\u578b\u59cb\u7ec8\u662f\u90a3\u4e9b\u4f7f\u7528\u65f6\u95f4\u4fe1\u606f\u7684\u6a21\u578b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4\uff09Backbone<\/strong><\/h3>\n\n\n\n<p>Swin Transformer \u5bf9\u5149\u7167\u53d8\u5316\u66f4\u4e3a\u654f\u611f\uff1bVoVNet-V2 \u5bf9\u96ea\u5929\u6c14\u7684\u9c81\u68d2\u6027\u66f4\u5f3a\uff0c\u800c ResNet \u5728\u5e7f\u6cdb\u7684\u5e72\u6270\u60c5\u51b5\u4e0b\u8868\u73b0\u51fa\u66f4\u597d\u7684\u9c81\u68d2\u6027\u3002\u5c3d\u7ba1 ResNet [120] \u548c VoVNet [63] \u5728\u6807\u51c6\u6027\u80fd\u4e0a\u76f8\u8fd1\uff0c\u4f46\u57fa\u4e8e ResNet \u7684\u68c0\u6d4b\u5668\u5728\u5404\u79cd\u5e72\u6270\u60c5\u51b5\u4e0b\u59cb\u7ec8\u8868\u73b0\u51fa\u66f4\u9ad8\u7684\u9c81\u68d2\u6027\uff0c\u5982\u56fe 8 \u6240\u793a\u3002\u76f8\u53cd\uff0cVoVNet \u4e3b\u5e72\u7f51\u7edc\u5728\u96ea\u5929\u6c14\u5e72\u6270\u4e0b\u59cb\u7ec8\u8868\u73b0\u51fa\u66f4\u597d\u7684\u9c81\u68d2\u6027\u3002\u6b64\u5916\uff0c\u57fa\u4e8e Swin Transformer [45] \u7684 BEVDet [3] \u5bf9\u5149\u7167\u6761\u4ef6\u7684\u53d8\u5316\uff08\u4f8b\u5982\uff0c\u660e\u4eae\u548c\u9ed1\u6697\uff09\u8868\u73b0\u51fa\u663e\u8457\u7684\u8106\u5f31\u6027\u3002\u5728\u56fe 9 \u4e2d\u53ef\u4ee5\u627e\u5230\u6e05\u6670\u7684\u6bd4\u8f83\u3002\u53d7\u5230 [119] \u7684\u542f\u53d1\uff0c\u6211\u4eec\u8ba1\u7b97\u4e86\u5728\u826f\u6027\u8f93\u5165\u548c\u5e72\u6270\u8f93\u5165\u4e0b\uff0c\u7531\u4e3b\u5e72\u6a21\u578b\u63d0\u53d6\u7684\u7279\u5f81\u7a7a\u95f4\u4e2d\u7684 Gramian \u77e9\u9635\u3002\u57fa\u4e8e\u8fd9\u4e9b\u8ba1\u7b97\uff0c\u6211\u4eec\u8ba1\u7b97\u4e86\u201c\u5e72\u51c0\u201d\u8f93\u5165\u548c\u5e72\u6270\u8f93\u5165\u4e4b\u95f4 Gramian \u77e9\u9635\u7684\u76f8\u5bf9\u8bef\u5dee\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>5\uff09Corruptions<\/strong><\/h3>\n\n\n\n<p>\u50cf\u7d20\u5206\u5e03\u504f\u79fb\u4e0e\u6a21\u578b\u6027\u80fd\u4e0b\u964d\u4e4b\u95f4\u7684\u5173\u7cfb\u5e76\u4e0d\u76f4\u63a5\u3002\u6211\u4eec\u4ecenuScenes\u6570\u636e\u96c6\u4e2d\u62bd\u53d6\u4e86300\u5f20\u56fe\u50cf\u6765\u8ba1\u7b97\u50cf\u7d20\u5206\u5e03\uff0c\u5e76\u5c06\u50cf\u7d20\u76f4\u65b9\u56fe\u53ef\u89c6\u5316\u5728\u56fe2\u4e2d\u3002\u6709\u8da3\u7684\u662f\uff0c\u8fd0\u52a8\u6a21\u7cca\u5f15\u8d77\u7684\u50cf\u7d20\u5206\u5e03\u504f\u79fb\u6700\u5c0f\uff0c\u4f46\u5374\u5bfc\u81f4\u4e86\u76f8\u5bf9\u8f83\u5927\u7684\u6027\u80fd\u4e0b\u964d\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u4eae\u5ea6\u504f\u79fb\u5c06\u50cf\u7d20\u5206\u5e03\u63a8\u5411\u66f4\u9ad8\u7684\u503c\uff0c\u800c\u96fe\u901a\u8fc7\u5c06\u50cf\u7d20\u503c\u5411\u66f4\u96c6\u4e2d\u7684\u533a\u57df\u79fb\u52a8\u4f7f\u7cbe\u7ec6\u7279\u5f81\u53d8\u5f97\u66f4\u6a21\u7cca\u3002\u7136\u800c\uff0c\u8fd9\u4e24\u79cd\u5e72\u6270\u53ea\u5bfc\u81f4\u4e86\u6700\u5c0f\u7684\u6027\u80fd\u5dee\u8ddd\uff0c\u8fd9\u8868\u660e\u6a21\u578b\u7684\u9c81\u68d2\u6027\u5e76\u4e0d\u7b80\u5355\u5730\u4e0e\u50cf\u7d20\u5206\u5e03\u76f8\u5173\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>6\uff09Detailed Metrics<\/strong><\/h3>\n\n\n\n<p>\u5728\u56fe\u50cf\u635f\u574f\u7684\u60c5\u51b5\u4e0b\uff0c\u901f\u5ea6\u9884\u6d4b\u9519\u8bef\u4f1a\u653e\u5927\uff0c\u5e76\u4e14\u5f52\u56e0\u548c\u5c3a\u5ea6\u8bef\u5dee\u5728\u4e0d\u540c\u6a21\u578b\u4e4b\u95f4\u5b58\u5728\u5dee\u5f02\u3002\u867d\u7136\u6211\u4eec\u7684\u7814\u7a76\u4e3b\u8981\u62a5\u544a\u4e86nuScenes\u68c0\u6d4b\u5f97\u5206\uff08NDS\uff09\u6307\u6807\uff0c\u4f46\u56fe11\u4e2d\u5c55\u793a\u4e86\u5173\u4e8e\u6a21\u578b\u9c81\u68d2\u6027\u7684\u989d\u5916\u89c1\u89e3\u3002\u6211\u4eec\u53d1\u73b0\uff0c\u5305\u542b\u65f6\u95f4\u4fe1\u606f\u7684\u6a21\u578b\uff08\u5982BEVFormer \u548cBEVerse\uff09\u7684\u5e73\u5747\u7edd\u5bf9\u901f\u5ea6\u8bef\u5dee\uff08mAVE\uff09\u663e\u8457\u4f4e\u4e8e\u4e0d\u5305\u542b\u65f6\u95f4\u4fe1\u606f\u7684\u6a21\u578b\u3002\u7136\u800c\uff0c\u5373\u4f7f\u662f\u5177\u6709\u65f6\u95f4\u878d\u5408\u7684\u6a21\u578b\u4e5f\u65e0\u6cd5\u514d\u53d7\u56fe\u50cf\u635f\u574f\u7684\u4e0d\u5229\u5f71\u54cd\uff1b\u7279\u522b\u662f\uff0c\u5728\u8f7b\u5fae\u5149\u7167\u53d8\u5316\u7684\u60c5\u51b5\u4e0b\uff0c\u901f\u5ea6\u9884\u6d4b\u9519\u8bef\u4e5f\u4f1a\u663e\u8457\u589e\u52a0\u3002\u56fe11b\u548c11f\u8868\u660e\uff0c\u8fd0\u52a8\u6a21\u7cca\u635f\u574f\u5bf9BEVFormer\u548cBEVerse\u7684\u901f\u5ea6\u9884\u6d4b\u90fd\u6709\u4e0d\u5229\u5f71\u54cd\uff0c\u63ed\u793a\u4e86\u8fd9\u4e9b\u5305\u542b\u65f6\u95f4\u6570\u636e\u7684\u6a21\u578b\u5b58\u5728\u7684\u663e\u8457\u8106\u5f31\u6027\u3002\u6b64\u5916\uff0c\u5bf9\u5f52\u56e0\u548c\u5c3a\u5ea6\u8bef\u5dee\u7684\u8fdb\u4e00\u6b65\u5206\u6790\u63ed\u793a\u4e86\u6a21\u578b\u4e4b\u95f4\u7684\u663e\u8457\u5f02\u8d28\u6027\u3002\u65e0\u6df1\u5ea6\u6a21\u578b\u5728\u8fd9\u4e9b\u6307\u6807\u4e0a\u8868\u73b0\u51fa\u4e00\u81f4\u7684\u6027\u80fd\uff0c\u800c\u57fa\u4e8e\u6df1\u5ea6\u7684\u6a21\u578b\u5219\u663e\u793a\u51fa\u660e\u663e\u7684\u53d8\u5f02\u6027\u3002\u8fd9\u4e00\u89c2\u5bdf\u5f3a\u8c03\u4e86\u57fa\u4e8e\u6df1\u5ea6\u7684\u65b9\u6cd5\u5bf9\u56fe\u50cf\u635f\u574f\u7684\u9ad8\u5ea6\u654f\u611f\u6027\uff0c\u5e76\u5f3a\u8c03\u4e86\u9700\u8981\u8fdb\u4e00\u6b65\u7814\u7a76\u4ee5\u589e\u5f3a\u5176\u9c81\u68d2\u6027\u7684\u5fc5\u8981\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"909\" height=\"462\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-167.png\" alt=\"\" class=\"wp-image-11642\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-167.png 909w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-167-300x152.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-167-768x390.png 768w\" sizes=\"(max-width: 909px) 100vw, 909px\" \/><\/figure>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] Benchmarking and Improving Bird\u2019s Eye View Perception Robustness in Autonomous Driving.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>BEV\u8868\u793a\u65b9\u6cd5\u7684\u8fdb\u6b65\u5728\u8f66\u8f7d3D\u611f\u77e5\u9886\u57df\u5c55\u73b0\u51fa\u4e86 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-11628","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11628"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=11628"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11628\/revisions"}],"predecessor-version":[{"id":11643,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11628\/revisions\/11643"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=11628"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=11628"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=11628"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}